CN113624212A - Levelness detection device and working parameter determination method of operating equipment - Google Patents
Levelness detection device and working parameter determination method of operating equipment Download PDFInfo
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- CN113624212A CN113624212A CN202010379676.1A CN202010379676A CN113624212A CN 113624212 A CN113624212 A CN 113624212A CN 202010379676 A CN202010379676 A CN 202010379676A CN 113624212 A CN113624212 A CN 113624212A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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Abstract
The embodiment of the application provides a levelness detection device and a working parameter determination method of operating equipment, and relates to the technical field of operating equipment. The device comprises a platform substrate, a processing module and a control module, wherein the platform substrate is used as a reference plane for projecting any point of a wall surface to be processed on the platform substrate; the distance measuring device is arranged on the platform base body and used for measuring the distance from the distance measuring device to any point of the wall surface to be processed; the leveling mechanism is used for leveling the platform base body; the main control module is used for controlling the leveling mechanism to level the platform base body, and acquiring the levelness of the wall surface to be processed by utilizing the distance from the distance measuring device to any point of the wall surface to be processed and the projection of any point of the wall surface to be processed to the reference plane; the levelness of the wall surface to be processed can be accurately and effectively obtained, the working parameters of the processing equipment are determined on the basis, the processing effect is improved, and the problems that the existing levelness measuring method is low in accuracy, time-consuming and labor-consuming and poor in processing effect are solved.
Description
Technical Field
The application relates to the technical field of operation equipment, in particular to a levelness detection device and a working parameter determination method of the operation equipment.
Background
In building construction, levelness detection of a wall surface to be processed mainly depends on manual detection. The manual detection adopts a five-point detection method, a laser swinger is used for providing a reference surface, the distance between each measuring point and the reference surface is manually measured, the accuracy is low, and time and labor are wasted; the field that has the requirement is being handled the wall to the wall, especially polishes or the roughness of the wall after the spraying etc. is handled the wall, when handling the wall and revising the levelness, traditional manual work is handled and is relied on the actual measurement real estate, needs revising many times, just can reach the acceptance standard to have the relatively poor problem of operation effect.
Disclosure of Invention
An object of the embodiment of the application is to provide a levelness detection device and a working parameter determination method for operation equipment, which can accurately and effectively obtain the levelness of a wall surface to be processed, determine the working parameters of the operation equipment on the basis, improve the operation effect, and solve the problems that the existing levelness measurement method is low in accuracy, wastes time and energy and is poor in operation effect.
The embodiment of the application provides a levelness detection device, the device includes:
the platform base is used as a reference plane for projecting any point of the wall surface to be processed on the platform base;
the distance measuring device is arranged on the platform base body and used for measuring the distance from the distance measuring device to any point of the wall surface to be processed;
the leveling mechanism is used for leveling the platform base body;
the main control module is used for controlling the leveling mechanism to level the platform base body and utilizing the distance measuring device to the distance of any point of the to-be-processed wall surface and the distance of any point of the to-be-processed wall surface to the projection of the reference plane to obtain the levelness of the to-be-processed wall surface.
In the implementation process, the main control module controls the leveling mechanism to realize automatic leveling of the platform base body; after automatic leveling, measuring the distance from each point of the wall surface to be processed by a distance measuring device, and converting to obtain the distance from each point of the wall surface to be processed to a reference plane, thereby obtaining the levelness of the wall surface to be processed; the device can accurately and effectively measure the complete levelness data of the wall surface to be processed.
The leveling mechanism includes:
the driving trundles are arranged at the bottom of the platform base body;
and the leveling motor is in transmission connection with the driving trundles and drives the driving trundles to rotate so as to realize the leveling of the platform base body.
In the implementation process, the leveling motor drives the driving trundles to rotate, so that the platform base body is leveled, the leveled platform base body can be used as a reference plane of the wall surface to be processed, and the accuracy of a levelness measuring result of the wall surface to be processed is improved.
Further, the apparatus further comprises:
and the inclination angle sensor is used for detecting the posture of the platform base body and sending the posture information of the platform base body to the main control module so as to level the platform base body.
In the implementation process, the inclination angle sensor can be used for measuring attitude information such as the inclination angle of the platform base body and sending the attitude information of the platform base body to the main control module, and the main control module can control the leveling mechanism to level the platform base body according to the attitude information of the platform base body.
Further, the main control module comprises:
the initial distance data acquisition module is used for receiving initial distance data fed back by the distance measuring device after the platform substrate is in a horizontal state;
the distance acquisition module is used for acquiring distance data before processing from the arbitrary point to the reference plane according to the distance data; the distance data before processing comprises the horizontal and vertical coordinates of the projection of any point on the wall surface to be processed on the reference plane and the distance from any point on the wall surface to be processed to the platform substrate;
and the levelness acquisition module is used for acquiring the levelness of the wall surface to be processed according to the distance data before processing.
In the implementation process, the distance from any point of the wall surface to be processed to the reference plane is obtained through the distance from the distance measuring device to any point of the wall surface to be processed, so that the levelness of the wall surface to be processed is obtained, compared with manual measurement and calculation, the accuracy is higher, and the measurement is more convenient and efficient.
Further, the main control module further includes a working parameter determining module, and the working parameter determining module includes:
the processing data acquisition module is used for acquiring processing data required by processing the wall surface to be processed according to the levelness of the wall surface to be processed;
the working parameter receiving module is used for receiving preset working parameters required by the working equipment for working;
the data sending module is used for sending the processing data and the working parameters to the operation equipment so that the operation equipment can process the wall surface to be processed according to the processing data and the working parameters;
the processed distance data module is used for acquiring the processed distance data of any point of the wall surface to be processed;
the parameter judgment module is used for judging whether the processing precision meets the requirement or not according to the distance data before processing and the distance data after processing;
if not, the working parameters are received again.
In the implementation process, the levelness detection device can also assist the operation equipment to perform operation test so as to determine the working parameters of the operation equipment, so that the wall surface to be processed meets the processing precision requirement after the operation of the operation equipment, and the problem that after the operation equipment is operated, operation deviation caused by error determination of the working parameters is avoided, and thus operation correction is required for many times is solved.
The embodiment of the application further provides a method for determining working parameters of the operating equipment, which comprises the following steps:
acquiring processing data required for processing the wall surface to be processed according to the levelness of the wall surface to be processed;
receiving preset working parameters required by the operation equipment for operation;
sending the processing data and the working parameters to the operation equipment so that the operation equipment processes the wall surface to be processed according to the processing data and the working parameters;
acquiring processed distance data of any point of the wall surface to be processed;
judging whether the processing precision meets the requirement or not according to the distance data before processing and the distance data after processing;
if not, the working parameters are received again.
In the implementation process, processing data of the wall surface to be processed is obtained through the levelness detection device, after the operation equipment configures initial working parameters and processes the wall surface to be processed, whether the processing precision of the processed wall surface to be processed meets the requirement is tested, if the processing precision does not meet the requirement, the working parameters of the operation equipment are reset until the operation of the operation equipment meets the acceptance criteria, and therefore the working parameters of the operation equipment are determined; the method realizes the precondition debugging of the operation equipment, determines the working parameters, improves the operation effect of the operation equipment, avoids the operation deviation caused by improper determination of the working parameters, realizes the open-loop control with the control effect equivalent to the closed-loop control, and solves the problems that the operation effect of the existing operation equipment is poor and the operation precision requirement is met by processing and correcting for many times.
Further, the acquiring, according to the levelness of the wall surface to be processed, processing data required for processing the wall surface to be processed includes:
comparing the wall surface to be processed with the fitted standard plane;
and acquiring the processing range and the processing amount of the wall surface to be processed according to the levelness of the wall surface to be processed.
In the implementation process, when the wall surface to be processed is processed, the wall surface to be processed and the fitted standard plane in the ideal state are compared, the processing range and the processing amount of the wall surface to be processed, which need to be processed, can be obtained according to the levelness of the wall surface to be processed, and the operation equipment is convenient to effectively process the wall surface to be processed according to the processing range and the processing amount.
Further, the determining whether the processing precision meets the requirement according to the pre-processing distance data and the post-processing distance data includes:
comparing the distance data before processing with the distance data after processing to obtain processing result data;
obtaining the working parameter calculation function according to the processing result data;
and judging whether the corresponding working parameters meet the precision requirement or not according to the working parameter calculation function.
In the implementation process, when the processing result is verified, the distance data before and after processing needs to be compared, whether the processing depth meets the acceptance criteria is judged, and whether the current working parameters of the processing equipment are appropriate is further determined.
An embodiment of the present application further provides an electronic device, where the electronic device includes a memory and a processor, the memory is used for storing a computer program, and the processor runs the computer program to make the computer device execute the method for determining an operating parameter of a working device according to any one of the foregoing descriptions.
An embodiment of the present application further provides a readable storage medium, where computer program instructions are stored, and when the computer program instructions are read and executed by a processor, the method for determining the operating parameters of the operating device described in any one of the foregoing embodiments is executed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a levelness detection apparatus according to an embodiment of the present application;
fig. 2 is a block diagram of a main control module according to an embodiment of the present disclosure;
fig. 3 is a flowchart of a method for determining operating parameters of a polishing apparatus according to an embodiment of the present disclosure;
fig. 4 is a specific flowchart for acquiring polishing data according to an embodiment of the present disclosure;
fig. 5 is a specific flowchart for determining whether the polishing precision meets the requirement according to the embodiment of the present application;
fig. 6 is a flowchart of a specific determination process of the working parameters of the polishing apparatus provided in the embodiment of the present application;
FIG. 7 is a schematic diagram illustrating a relative position relationship between a levelness measuring device, a polishing apparatus, and a polished wall surface according to an embodiment of the present disclosure;
fig. 8 is a top view of fig. 7.
Icon:
100-a distance measuring device; 200-a display screen; 300-leveling motor; 400-driving the caster; 500-a master control module; 510-a levelness calculation module; 511-initial distance data acquisition module; 512-distance acquisition module; 513-a levelness obtaining module; 520-an operating parameter determination module; 521-a polishing data acquisition module; 522-an operating parameter receiving module; 523-data transmission module; 524-distance data module after polishing; 525-parameter judgment module; 600-a platform substrate; 700-polishing the wall surface; 800-levelness detection means; 900-grinding equipment.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example 1
Referring to fig. 1, fig. 1 is a schematic structural diagram of a levelness detection device 800 according to an embodiment of the present application. The device can be applied to the roughness of wall after the field is handled such as polishing or spraying to the wall to the detection wall. In this embodiment, the device can be applied to detect the levelness of the wall surface 700 of polishing such as the ceiling of the top, and can also assist the polishing device 900 in determining and debugging the working parameters.
Quantification of the levelness of the polished wall surface 700 helps to determine the polishing depth of the polishing apparatus 900, and to determine the correction range and correction amount of the polishing apparatus 900 at the minimum workload, improving the polishing efficiency of the polishing apparatus 900.
The device specifically includes:
the platform base 600 is used as a reference plane for projecting any point of the polished wall surface 700 on the platform base 600;
the distance measuring device 100 is arranged on the platform base body 600 and used for measuring the distance from the distance measuring device 100 to any point of the polished wall surface 700; for example, the distance measuring device 100 may be a laser distance measuring instrument, and is installed at the geometric center of the platform substrate 600, that is, the plane origin of the platform substrate 600 is the projection of the geometric center of the distance measuring device 100 on the platform substrate 600, so that the use is simple and convenient, and the distance to any point of the polished wall surface 700 can be quickly and accurately measured;
the leveling mechanism is used for leveling the platform base body 600;
the main control module 500 is used for controlling the leveling mechanism to level the platform base body 600, and acquiring the levelness of the wall surface 700 to be polished by utilizing the distance between the distance measuring device 100 and any point of the polished wall surface 700 and the projection of any point of the polished wall surface 700 to the reference plane.
By way of example, the leveling mechanism may include:
the driving caster 400 is arranged at the bottom of the platform base body 600, and the posture of the platform base body 600 can be adjusted by rotating the driving caster 400;
the leveling motor 300 is in transmission connection with the driving caster 400, and drives the driving caster 400 to rotate, so as to level the platform base body 600.
Illustratively, the apparatus further comprises:
and the inclination angle sensor is used for detecting the posture of the platform base 600 and sending the posture information of the platform base 600 to the main control module 500 so as to level the platform base 600.
Illustratively, the apparatus further comprises a display screen 200 for displaying the operating state.
During leveling, the inclination angle sensor detects information such as the angle and the posture of the platform base body 600, the detected posture information is sent to the main control module 500, and the main control module 500 drives the caster 400 to rotate under the control of the leveling motor 300, so that the platform base body 600 is automatically leveled.
When the levelness detection device 800 is installed, the installation direction must be matched with the direction of the working space coordinate system of the polishing equipment 900, so that the working parameters of the polishing equipment 900 can be conveniently debugged and determined; and the installation is stable, so that the device can work normally to realize automatic leveling.
For example, after the leveling operation is completed, the main control module 500 obtains the levelness of the wall surface 700 to be polished by using the distance from the distance measuring device 100 to any point of the polished wall surface 700 and the projection from any point of the polished wall surface 700 to the reference plane, and in the implementation process, the following functional modules of the main control module 500 are needed:
specifically, as shown in fig. 2, it is a block diagram of the main control module 500. The main control module 500 includes a levelness calculation module 510, and the levelness calculation module 510 may specifically include:
an initial distance data obtaining module 511, configured to receive initial distance data fed back by the distance measuring device 100 after the platform base 600 is in a horizontal state;
after the platform base body 600 is adjusted to be in a horizontal state, the device starts to measure the levelness of the polished wall surface 700, and the accuracy of levelness measurement can be improved when the platform base body 600 is ensured to be in the horizontal state; wall 700 of polishing here is mainly to the smallpox at top, and range unit 100 starts work, and the profile of polishing wall 700 is surveyed earlier, and rethread range unit 100 measures the distance of polishing a plurality of arbitrary points of wall 700 to range unit 100, as the initial distance data of polishing wall 700.
A distance obtaining module 512, configured to obtain distance data before polishing from the arbitrary point to the reference plane according to the initial distance data; the distance data before polishing comprises the horizontal and vertical coordinates of the projection of any point on the polished wall surface 700 on the reference plane and the distance from any point on the polished wall surface 700 to the platform substrate 600;
and then converting the initial distance data to obtain the distance from any point of the polished wall surface 700 to a horizontal reference plane, and simultaneously recording the horizontal and vertical coordinates of the point of the polished wall surface 700 projected onto the reference plane as distance data Z before polishing0(x, y) wherein Z0Represents the distance from any point of the polished wall surface 700 to the datum plane; (x, y) represents the abscissa and ordinate of the projection of any point on the finished wall surface 700 onto the reference plane defined by the platform base 600.
And the levelness acquiring module 513 is configured to acquire the levelness of the polished wall surface 700 according to the distance data before polishing.
The levelness of the wall surface 700 can be determined through the change of the distance from each point of the wall surface 700 to the reference plane during polishing in the distance data before polishing, only the initial distance data is required to be converted into the distance data before polishing through projection, and the distance from the distance measuring module to any point of the wall surface 700 during polishing can be accurately and effectively measured, so that the accuracy of the distance data before polishing after conversion is ensured, and the accuracy and the efficiency of measuring the levelness of the wall surface 700 during polishing are further ensured.
After the main control module 500 measures the levelness of the polished wall surface 700, the working parameters of the polishing device 900 can be determined by using the levelness change of the polished wall surface 700 before and after polishing, so as to obtain the working parameters meeting the polishing requirements after polishing. Therefore, the main control module 500 further includes an operating parameter determining module 520, and the operating parameter determining module 520 includes:
the grinding data acquisition module 521 is used for acquiring grinding data required for grinding the ground wall surface 700 according to the levelness of the ground wall surface 700;
a working parameter receiving module 522, configured to receive preset working parameters required by the polishing apparatus 900 to perform a polishing operation;
a data sending module 523, configured to send the polishing data and the working parameters to the polishing apparatus 900, so that the polishing apparatus 900 polishes the polished wall surface 700 according to the polishing data and the working parameters;
a distance data after polishing module 524, configured to obtain distance data after polishing at any point of the polished wall surface 700;
the parameter judgment module 525 is used for judging whether the polishing precision meets the requirement according to the distance data before polishing and the distance data after polishing;
if not, the working parameters are received again.
Example 2
An embodiment of the present application provides a method for determining operating parameters of a polishing apparatus 900, which is a flowchart of the method for determining operating parameters of the polishing apparatus 900, as shown in fig. 3. The method can be applied to the main control module 500 of the levelness detection device 800 in embodiment 1, and assists the polishing device 900, such as a polishing robot, to determine the working parameters, so as to improve the polishing efficiency and the polishing effect.
In the operation of the machine for fully automatically polishing the wall surface 700, due to dust, vibration and the like, the polishing effect is difficult to dynamically measure through an external sensor, so that closed-loop control is formed; it is therefore possible to determine the operating parameters having the best sanding effect and meeting acceptance criteria by continuously testing the operating parameters of the sanding apparatus 900 in an earlier stage to achieve open loop control with an effect comparable to closed loop control. In the present embodiment, the determination of the operation parameters of the grinding apparatus 900 is mainly determined by whether the grinding depth variation before and after grinding meets the acceptance criterion, which is mainly achieved by the levelness detecting device 800. Before the test, ensure each item stable performance of the robot that awaits measuring for each item function keeps normal condition, including chassis system, operating system, dust collecting system and system of polishing etc. as usual polishing robot, no longer give unnecessary details here, the equipment 900 of polishing that needs to confirm working parameter before polishing all belongs to the protection scope of this application, and no longer give unnecessary details here. The method may specifically comprise the steps of:
step S100: acquiring polishing data required for polishing the polished wall surface 700 according to the levelness of the polished wall surface 700;
fig. 4 shows a specific flowchart for obtaining the grinding data. The step may specifically include:
step S101: comparing the polished wall surface 700 with the fitted standard plane;
step S102: the polishing range and the polishing amount of the polished wall surface 700 are obtained according to the levelness of the polished wall surface 700.
The levelness of the polished wall surface 700 measured by the levelness detection device 800 is compared with the levelness of the fitted standard plane to obtain the polishing range and polishing amount required to be polished, the levelness of the polished wall surface 700 is quantized through the levelness detection device 800 to obtain the correction range and correction amount under the minimum workload, and the working efficiency and polishing accuracy are improved.
Step S200: receiving preset working parameters required by the polishing equipment 900 for polishing operation;
an input module, such as a touch screen, may be disposed on the levelness detection device 800, so that a tester can input the working parameters to be tested.
By way of example, the operating parameter may be represented as A [ F ]N,v1,n,C]Wherein A represents an array composed of various working parameters, FNIndicating grinding positive pressure, v1The horizontal moving speed of the grinding is shown, n is the rotating speed of a grinding motor, and C is the concrete strength grade. The above-described four variables having a large influence on the grinding effect are taken as main parameters for determining the operating parameters of the grinding apparatus 900 according to the present embodiment.
Step S300: sending the polishing data and the working parameters to the polishing device 900, so that the polishing device 900 polishes the polished wall surface 700 according to the polishing data and the working parameters;
the determined polishing range and polishing amount of the polishing to be performed on the wall surface 700 to be polished and the determined working parameters of the to-be-tested polishing effect of the polishing device 900 are sent to the polishing device 900, and after the polishing device 900 receives the data sent by the main control module 500, the wall surface 700 can be polished according to the data.
Step S400: acquiring polished distance data of any point of the polished wall surface 700;
after polishing, the distance from the distance measuring device 100 to any point of the polished wall surface 700 is repeatedly measured, and then the polished distance data Z of the polished wall surface 700 is obtained1(x,y)。
Step S500: judging whether the polishing precision meets the requirement or not according to the distance data before polishing and the distance data after polishing;
as shown in fig. 5, a specific flowchart for determining whether the grinding accuracy meets the requirement is provided. The step may specifically include:
step S501: comparing the distance data before polishing with the distance data after polishing to obtain polishing result data;
will polish the front distance data Z0(x, y) and post-grind distance data Z1(x, y) comparing to obtain polishing result data dz ═ Z0-Z1Where dz is a binary function of the sanding depth with respect to sanding wall surface 700.
Step S502: obtaining a working parameter calculation function according to the polishing result data;
establishing a mapping relation between dz and A to obtain that dz is G0(A)；
Step S503: and judging whether the corresponding working parameters meet the precision requirement or not according to the working parameter calculation function.
G is to be0(A) The function is as robot working parameter benchmark function, carries out the testability test, detects whether the precision of polishing accords with the operating requirement, can be in order to polish the wall 700 around contrast, obtains the change amount of the degree of depth of polishing, judges whether the change amount of the degree of depth of polishing accords with the acceptance standard.
Step S600: if not, the working parameters are received again.
If the grinding depth variation does not meet the acceptance criteria, the step S200 is required to be returned again, and the working parameters required to be tested are determined again until the working parameters meeting the grinding precision requirement are obtained.
By determining the appropriate working parameters of the polishing device 900 through the method, the polishing device 900 can obtain a better polishing effect when in work without closed-loop control, and open-loop control with a control effect equivalent to that of closed-loop control is realized.
For example, as shown in fig. 6, a flowchart of a specific determination process of an operating parameter of the polishing apparatus 900 is specifically implemented as follows:
step S11: in a commissioning site, as shown in fig. 7, a schematic diagram of the relative positions of the levelness measuring device, the polishing apparatus 900 and the polished wall surface 700 is shown. Fig. 8 is a plan view of fig. 7. Installing a levelness measuring device, installing a levelness detecting device 800 at the central position of a field, determining that a polishing device 900 is in a stable state and the levelness detecting device 800 is in a leveling state, wherein the areas to be tested corresponding to the polishing wall surface 700 are a first area, a second area, a third area and a fourth area, and measuring to obtain distance data before polishing, as shown in the following table 1:
table 1 distance before polishing data of polished wall surface 700
Step S12: different working parameters are set for the polishing device 900 to carry out polishing test, different parameters are set in different test areas, the working parameters to be tested are shown in table 2, and the working parameters A [ F ] of the machine test areN,v1,n,C]Setting is carried out:
table 2 preset operating parameters of the polishing apparatus 900
Step S13: after the polishing test is completed, the levelness detection device 800 is reused to measure the distance data after polishing the wall surface 700, as shown in table 3 below:
table 3 distance data after polishing of polished wall surface 700
Step S14: will polish the front distance data Z0(x, y) and post-grind distance data Z1(x, y) comparing to obtain polishing result data dz ═ Z0-Z1Removing the coordinates contained in the image, establishing a mapping relation between dz and A, and fitting to obtain the dz which is G0(A) (ii) a As shown in table 4, a portion of the polishing results are illustrated in relation to the operating parameters as shown in the following table:
TABLE 4 relationship of sanding results to operating parameters
Step S15: for dz ═ G0(A) Performing a verification test, and if the precision meets the requirement, that is, the polishing depth variation meets the acceptance criteria, determining the corresponding working parameters as the working parameters required by the operation of the polishing equipment 900; and if the precision does not meet the requirement, returning to the step S12 to reset the working parameters, and carrying out the grinding test again.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A levelness detection apparatus, characterized in that the apparatus comprises:
the platform base is used as a reference plane for projecting any point of the wall surface to be processed on the platform base;
the distance measuring device is arranged on the platform base body and used for measuring the distance from the distance measuring device to any point of the wall surface to be processed;
the leveling mechanism is used for leveling the platform base body;
the main control module is used for controlling the leveling mechanism to level the platform base body and utilizing the distance measuring device to the distance of any point of the to-be-processed wall surface and the distance of any point of the to-be-processed wall surface to the projection of the reference plane to obtain the levelness of the to-be-processed wall surface.
2. The levelness detection device according to claim 1, wherein the leveling mechanism comprises:
the driving trundles are arranged at the bottom of the platform base body;
and the leveling motor is in transmission connection with the driving trundles and drives the driving trundles to rotate so as to realize the leveling of the platform base body.
3. The levelness detection device according to claim 1, wherein said device further comprises:
and the inclination angle sensor is used for detecting the posture of the platform base body and sending the posture information of the platform base body to the main control module so as to level the platform base body.
4. The levelness detecting device according to claim 1, wherein the main control module comprises:
the initial distance data acquisition module is used for receiving initial distance data fed back by the distance measuring device after the platform substrate is in a horizontal state;
the distance acquisition module is used for acquiring distance data before processing from the arbitrary point to the reference plane according to the initial distance data; the distance data before processing comprises the horizontal and vertical coordinates of the projection of any point on the wall surface to be processed on the reference plane and the distance from any point on the wall surface to be processed to the platform substrate;
and the levelness acquisition module is used for acquiring the levelness of the wall surface to be processed according to the distance data before processing.
5. The levelness detection device according to claim 1, wherein the main control module further comprises an operating parameter determination module, and the operating parameter determination module comprises:
the processing data acquisition module is used for acquiring processing data required by processing the wall surface to be processed according to the levelness of the wall surface to be processed;
the working parameter receiving module is used for receiving preset working parameters required by the working equipment for working;
the data sending module is used for sending the processing data and the working parameters to the operation equipment so that the operation equipment can process the wall surface to be processed according to the processing data and the working parameters;
the processed distance data module is used for acquiring the processed distance data of any point of the wall surface to be processed;
the parameter judgment module is used for judging whether the processing precision meets the requirement or not according to the distance data before processing and the distance data after processing;
if not, the working parameters are received again.
6. A method of determining operating parameters of a work device, the method comprising:
acquiring processing data required for processing the wall surface to be processed according to the levelness of the wall surface to be processed;
receiving preset working parameters required by the operation equipment for operation;
sending the processing data and the working parameters to the operation equipment so that the operation equipment processes the wall surface to be processed according to the processing data and the working parameters;
acquiring processed distance data of any point of the wall surface to be processed;
judging whether the processing precision meets the requirement or not according to the distance data before processing and the distance data after processing;
if not, the working parameters are received again.
7. The method for determining the operating parameters of the operating device according to claim 6, wherein the obtaining of the processing data required for processing the wall surface to be processed according to the levelness of the wall surface to be processed includes:
comparing the wall surface to be processed with the fitted standard plane;
and acquiring the processing range and the processing amount of the wall surface to be processed according to the levelness of the wall surface to be processed.
8. The method according to claim 6, wherein said determining whether the processing accuracy satisfies the requirement based on the pre-processing distance data and the post-processing distance data comprises:
comparing the distance data before processing with the distance data after processing to obtain processing result data;
obtaining a working parameter calculation function according to the processing result data;
and judging whether the corresponding working parameters meet the precision requirement or not according to the working parameter calculation function.
9. An electronic device, characterized in that the electronic device comprises a memory for storing a computer program and a processor for executing the computer program to cause the computer device to execute the method for determining the operating parameters of the working device according to any one of claims 6 to 8.
10. A readable storage medium, in which computer program instructions are stored, which, when read and executed by a processor, perform the method for determining operating parameters of a working device according to any one of claims 6 to 8.
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